M-HEAD -----------------OXFORD TECHNICAL SOLUTIONS LIMITED------------------- M-HEAD Blended navigation system post-processing software M-HEAD Version ID: 1.6.0, Development ID: 190324.14i M-HEAD ---------------------------------------------------------------------- M-HEAD Real-time simulated outputs : sim/ M-HEAD Forwards post-process outputs : fwd/ M-HEAD Backwards post-process outputs : bwd/ M-HEAD Combined post-process outputs : cmb/ M-COOK Section 1 of 1 M-COOK Enabled cooking output 220905_144751.cd M-COOK Raw data cooking start P-COOK 1/1 0.00 M-COOK Secondary GNSS time: 2022-09-05 14:47:32.800,495,564 M-COOK Primary GNSS time: 2022-09-05 14:47:33.399,908,126 P-COOK 1/1 10.67 P-COOK 1/1 20.88 P-COOK 1/1 30.81 P-COOK 1/1 40.88 P-COOK 1/1 51.07 P-COOK 1/1 61.32 P-COOK 1/1 71.53 P-COOK 1/1 81.76 P-COOK 1/1 91.89 P-COOK 1/1 100.00 M-COOK Raw data cooking done M-SIM Section 1 of 7 M-SIM Raw data 220905_144751.rd M-SIM Gyroscope alignment correction sim/result.ga M-SIM Gyroscope alignment accuracy sim/result.gaa M-SIM Gyroscope bias correction sim/result.gb M-SIM Gyroscope bias accuracy sim/result.gba M-SIM Accelerometer bias correction sim/result.ab M-SIM Accelerometer bias accuracy sim/result.aba M-SIM GPS antenna position 220905_144751.gap sim/result.gap M-SIM GPS antenna position accuracy 220905_144751.gpa sim/result.gpa M-SIM Dual-antenna GPS attitude relative to IMU 220905_144751.att sim/result.att M-SIM Dual-antenna GPS relative attitude accuracy 220905_144751.ata sim/result.ata M-SIM Vehicle attitude relative to IMU 220905_144751.vat sim/result.vat M-SIM Blended system accuracy output sim/220905_144751.acy M-SIM Rotated blended system output sim/220905_144751.rot M-SIM Rotated blended system accuracy output sim/220905_144751.acr M-SIM System configuration 220905_144751.cfg M-SIM Output displacement vector 220905_144751.lva M-SIM NCOM output log sim/220905_144751.ncom M-SIM Vehicle alignment accuracy 220905_144751.vaa sim/result.vaa M-SIM Command log file sim/220905_144751.qcf M-SIM MCOM output log sim/220905_144751.mcom M-SIM OxTS multiplex sim/220905_144751.xcom M-SIM Output sim/220905_144751.prn M-SIM Raw wheel speed counts sim/220905_144751.wsc M-FWD Section 1 of 7 M-FWD Cooked data 220905_144751.cd M-FWD Gyroscope alignment correction fwd/result.ga M-FWD Gyroscope alignment accuracy fwd/result.gaa M-FWD Gyroscope bias correction fwd/result.gb M-FWD Gyroscope bias accuracy fwd/result.gba M-FWD Accelerometer bias correction fwd/result.ab M-FWD Accelerometer bias accuracy fwd/result.aba M-FWD GPS antenna position 220905_144751.gap fwd/result.gap M-FWD GPS antenna position accuracy 220905_144751.gpa fwd/result.gpa M-FWD Dual-antenna GPS attitude relative to IMU 220905_144751.att fwd/result.att M-FWD Dual-antenna GPS relative attitude accuracy 220905_144751.ata fwd/result.ata M-FWD Vehicle attitude relative to IMU 220905_144751.vat fwd/result.vat M-FWD Blended system accuracy output fwd/220905_144751.acy M-FWD Rotated blended system output fwd/220905_144751.rot M-FWD Rotated blended system accuracy output fwd/220905_144751.acr M-FWD System configuration 220905_144751.cfg M-FWD Output displacement vector 220905_144751.lva M-FWD NCOM output log fwd/220905_144751.ncom M-FWD Vehicle alignment accuracy 220905_144751.vaa fwd/result.vaa M-FWD Command log file fwd/220905_144751.qcf M-FWD MCOM output log fwd/220905_144751.mcom M-FWD OxTS multiplex fwd/220905_144751.xcom M-FWD Output fwd/220905_144751.prn M-FWD Optimal NCOM output fwd/220905_144751.opncom M-FWD Optimal MCOM output fwd/220905_144751.opmcom M-FWD Raw wheel speed counts fwd/220905_144751.wsc M-BWD Section 1 of 7 M-BWD Cooked data 220905_144751.cd M-BWD Gyroscope alignment correction bwd/result.ga M-BWD Gyroscope alignment accuracy bwd/result.gaa M-BWD Gyroscope bias correction bwd/result.gb M-BWD Gyroscope bias accuracy bwd/result.gba M-BWD Accelerometer bias correction bwd/result.ab M-BWD Accelerometer bias accuracy bwd/result.aba M-BWD GPS antenna position 220905_144751.gap bwd/result.gap M-BWD GPS antenna position accuracy 220905_144751.gpa bwd/result.gpa M-BWD Dual-antenna GPS attitude relative to IMU 220905_144751.att bwd/result.att M-BWD Dual-antenna GPS relative attitude accuracy 220905_144751.ata bwd/result.ata M-BWD Vehicle attitude relative to IMU 220905_144751.vat bwd/result.vat M-BWD Blended system accuracy output bwd/220905_144751.acy M-BWD Rotated blended system output bwd/220905_144751.rot M-BWD Rotated blended system accuracy output bwd/220905_144751.acr M-BWD System configuration 220905_144751.cfg M-BWD Output displacement vector 220905_144751.lva M-BWD NCOM output log bwd/220905_144751.ncom M-BWD Vehicle alignment accuracy 220905_144751.vaa bwd/result.vaa M-BWD Command log file bwd/220905_144751.qcf M-BWD MCOM output log bwd/220905_144751.mcom M-BWD OxTS multiplex bwd/220905_144751.xcom M-BWD Output bwd/220905_144751.prn M-BWD Optimal NCOM output bwd/220905_144751.opncom M-BWD Optimal MCOM output bwd/220905_144751.opmcom M-BWD Raw wheel speed counts bwd/220905_144751.wsc P-SIM 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-SIM 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-SIM 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 M-SIM Attempting to open 220905_144751.rd M-FWD Attempting to open 220905_144751.cd M-BWD Attempting to open 220905_144751.cd P-SIM 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 M-SIM Error in function GetNextPktPrivate() at line 584 of file unlog.c: Incomplete packet in data file M-SIM Detected IMU6 IMU with B110 primary GPS and B110 secondary GPS M-SIM Section 2 of 7 M-SIM Ephemeris collection: System Initialisation P-SIM 2/7 9.56 P-FWD 1/7 0.00 P-BWD 1/7 0.00 M-FWD Detected IMU6 IMU with B110 primary GPS and B110 secondary GPS M-FWD Section 2 of 7 M-FWD Ephemeris collection: System Initialisation M-BWD Detected IMU6 IMU with B110 primary GPS and B110 secondary GPS M-BWD Section 2 of 7 M-BWD Ephemeris collection: System Initialisation P-SIM 2/7 57.52 P-FWD 2/7 43.63 P-BWD 2/7 15.39 M-SIM Error in function GetNextPktPrivate() at line 584 of file unlog.c: Incomplete packet in data file M-SIM Attempting to open 220905_144751.rd P-SIM 2/7 100.00 P-FWD 2/7 88.41 P-BWD 2/7 31.41 M-FWD Attempting to open 220905_144751.cd M-SIM Found 1 RINEX base station observations file M-SIM Station name: M-SIM File name: Base_Stations/mirkovc_letisko_20220905.22O M-SIM Lat/Lon/Alt: 48.893398271, 21.317483479, 374.057 M-SIM ----------------------------- M-SIM Section 3 of 7 M-SIM Section 4 of 7 M-SIM Section 5 of 7 M-SIM Section 6 of 7 P-SIM 6/7 0.68 P-FWD 2/7 100.00 P-BWD 2/7 46.85 M-FWD Found 1 RINEX base station observations file M-FWD Station name: M-FWD File name: Base_Stations/mirkovc_letisko_20220905.22O M-FWD Lat/Lon/Alt: 48.893398271, 21.317483479, 374.057 M-FWD ----------------------------- M-FWD Section 3 of 7 M-FWD Section 4 of 7 M-FWD Section 5 of 7 M-FWD Section 6 of 7 P-SIM 6/7 2.28 P-FWD 6/7 0.32 P-BWD 2/7 62.32 M-SIM Using GPS heading for initialisation M-SIM 134.2 seconds of data were skipped before successful initialisation M-FWD Using GPS heading for initialisation M-FWD 134.2 seconds of data were skipped before successful initialisation P-SIM 6/7 9.42 P-FWD 6/7 7.56 P-BWD 2/7 78.61 P-SIM 6/7 13.59 P-FWD 6/7 11.42 P-BWD 2/7 94.42 M-BWD Attempting to open 220905_144751.cd P-SIM 6/7 18.10 P-FWD 6/7 16.15 P-BWD 2/7 100.00 M-BWD Found 1 RINEX base station observations file M-BWD Station name: M-BWD File name: Base_Stations/mirkovc_letisko_20220905.22O M-BWD Lat/Lon/Alt: 48.893398271, 21.317483479, 374.057 M-BWD ----------------------------- M-BWD Section 3 of 7 M-BWD Section 4 of 7 M-BWD Section 5 of 7 M-BWD Section 6 of 7 P-SIM 6/7 22.36 P-FWD 6/7 19.95 P-BWD 6/7 0.14 M-BWD ----------------------------- M-BWD Station name: M-BWD GPS Time seconds: 139624.500 M-BWD Lat/Lon/Alt: 48.893398271, 21.317483479, 374.057 M-BWD ----------------------------- M-BWD Using GPS heading for initialisation M-BWD 47.0 seconds of data were skipped before successful initialisation P-SIM 6/7 26.53 P-FWD 6/7 23.98 P-BWD 6/7 3.81 P-SIM 6/7 30.75 P-FWD 6/7 28.09 P-BWD 6/7 7.32 P-SIM 6/7 34.80 P-FWD 6/7 32.10 P-BWD 6/7 10.66 P-SIM 6/7 38.83 P-FWD 6/7 35.99 P-BWD 6/7 14.07 P-SIM 6/7 43.07 P-FWD 6/7 40.17 P-BWD 6/7 17.57 P-SIM 6/7 47.17 P-FWD 6/7 44.29 P-BWD 6/7 20.99 P-SIM 6/7 51.39 P-FWD 6/7 48.39 P-BWD 6/7 24.41 P-SIM 6/7 55.60 P-FWD 6/7 52.54 P-BWD 6/7 27.93 P-SIM 6/7 59.63 P-FWD 6/7 56.67 P-BWD 6/7 31.35 P-SIM 6/7 63.57 P-FWD 6/7 60.59 P-BWD 6/7 34.73 P-SIM 6/7 67.54 P-FWD 6/7 64.21 P-BWD 6/7 37.85 P-SIM 6/7 71.75 P-FWD 6/7 68.32 P-BWD 6/7 41.33 P-SIM 6/7 75.70 P-FWD 6/7 72.29 P-BWD 6/7 44.76 P-SIM 6/7 79.58 P-FWD 6/7 76.10 P-BWD 6/7 48.01 P-SIM 6/7 83.61 P-FWD 6/7 80.10 P-BWD 6/7 51.50 P-SIM 6/7 87.63 P-FWD 6/7 84.00 P-BWD 6/7 54.93 P-SIM 6/7 91.79 P-FWD 6/7 87.96 P-BWD 6/7 58.38 P-SIM 6/7 95.85 P-FWD 6/7 91.68 P-BWD 6/7 61.66 P-SIM 6/7 100.00 P-FWD 6/7 95.63 P-BWD 6/7 65.09 M-SIM Error in function GetNextPktPrivate() at line 584 of file unlog.c: Incomplete packet in data file M-SIM Section 7 of 7 P-SIM 7/7 100.00 P-FWD 6/7 99.57 P-BWD 6/7 68.58 M-FWD Section 7 of 7 P-SIM 7/7 100.00 P-FWD 7/7 0.00 P-BWD 6/7 72.05 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 75.67 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 79.31 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 82.92 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 86.90 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 90.60 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 94.20 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 6/7 97.84 M-BWD Section 7 of 7 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-SIM 7/7 100.00 P-FWD 7/7 100.00 P-BWD 7/7 100.00 M-COMB Section 1 of 2 M-COMB XCOM combine start P-COMB 1/2 0.00 P-COMB 1/2 7.45 P-COMB 1/2 12.00 P-COMB 1/2 16.55 P-COMB 1/2 21.10 P-COMB 1/2 25.66 P-COMB 1/2 30.21 P-COMB 1/2 34.76 P-COMB 1/2 39.45 P-COMB 1/2 44.28 P-COMB 1/2 48.83 P-COMB 1/2 53.38 P-COMB 1/2 57.93 P-COMB 1/2 62.49 P-COMB 1/2 67.04 P-COMB 1/2 71.59 P-COMB 1/2 76.28 P-COMB 1/2 81.11 P-COMB 1/2 85.66 P-COMB 1/2 90.21 P-COMB 1/2 94.76 P-COMB 1/2 100.00 P-COMB 1/2 100.00 M-COMB XCOM combine done M-COMB Section 2 of 2 M-COMB NCOM combine start P-COMB 2/2 0.00 P-COMB 2/2 6.95 P-COMB 2/2 11.89 P-COMB 2/2 16.85 P-COMB 2/2 21.78 P-COMB 2/2 26.70 P-COMB 2/2 31.61 P-COMB 2/2 36.54 P-COMB 2/2 41.45 P-COMB 2/2 46.38 P-COMB 2/2 51.33 P-COMB 2/2 56.27 P-COMB 2/2 61.06 P-COMB 2/2 65.92 P-COMB 2/2 70.81 P-COMB 2/2 75.71 P-COMB 2/2 80.65 P-COMB 2/2 85.48 P-COMB 2/2 90.40 P-COMB 2/2 95.32 P-COMB 2/2 100.00 M-COMB NCOM combine done M-FOOT Finished